Description:FIELD OF THE INVENTION
[001] The present invention generally relates to a vehicular collision warning system for operating alert devices of a vehicle to warn an operator of the vehicle, a potential obstruction in a path of the vehicle and a trailing vehicle of a probability of collision, and a method thereof.

BACKGROUND OF THE INVENTION
[002] Implementation of warning mechanisms to alert an operator of a vehicle and other passer-by with regard to a forward collision of the vehicle is desirable. Such mechanisms in existence, however, merely indicate that the collision is imminent. The existing warning mechanisms do not indicate a severity of the collision and do not factor in a time until the collision to vary the warnings generated by an alert device in the vehicle. For example, current warning mechanisms are not capable of controlling an actuation of a horn of the vehicle and thus cannot prevent honking of the horn in unnecessary circumstances. Injudicious use of the horn creates noise and may cause annoyance, depression, hypertension, stress, hearing impairment, memory loss and panic attacks.
[003] Further, the present warning systems are not indicative of when the operator of the vehicle is distracted so as to lead to possible collision and whether the operator is able to operate the alert devices, like sound the horn or flicker the headlamp, etc. in a timely manner so as to avoid the collision. Also, the existing warning mechanisms are not adapted to decide when to not sound the horn, or to disable the horn when the vehicle is travelling through a no horn zone or a silence zone like hospitals/educational institution etc. Unwanted, untimely, and unnecessary actuations of the alert devices often cause public nuisance. However, the operator and the passer-by also need to be alerted to successfully deter accidents. Therefore, unwanted operation of the alert devices needs to be prevented while simultaneously assuring that the operator and passer-by are alerted during dangerous scenarios.
[004] Thus, there is a need in the art for a vehicular collision warning system and a method thereof which addresses at least the aforementioned problems and limitations.

SUMMARY OF THE INVENTION
[005] In one aspect, the present invention is directed to a vehicle having a vehicular collision warning system. The vehicular collision warning system includes a first sensor provided at a front of the vehicle, a second sensor provided at a rear of the vehicle and a first control unit. The first sensor is adapted to detect one or more parameters of a potential obstruction in a path of the vehicle and the second sensor is adapted to detect one or more parameters of a trailing vehicle. The vehicle further includes a vehicle control unit (VCU) and one or more alert devices. The alert devices are adapted to receive instructions from at least the first control unit to alert an operator of the vehicle, a trailing vehicle and the potential obstruction in the path of the vehicle of a probability of collision. The first control unit is adapted to receive the one or more parameters of the potential obstruction in the path of the vehicle from the first sensor, the one or more parameters of the trailing vehicle from the second sensor and a speed of the vehicle from the VCU. The first control unit activates the vehicular collision warning system if the one or more parameters of the potential obstruction in the path of the vehicle and the speed of the vehicle satisfy a first set of predetermined conditions. The first control unit is further adapted to determine a time to collision (TTC) factor based on the one or more parameters of the potential obstruction in the path of the vehicle and the speed of the vehicle, and generate a first set of signals to operate at least one of the one or more alert devices to warn the operator of the vehicle, the potential obstruction in the path of the vehicle and the trailing vehicle of the probability of collision, based on the TTC factor and the speed of the vehicle, if the vehicular collision warning system is activated.
[006] In an embodiment, the first sensor and the second sensor include at least one of a camera unit, a radar unit and a lidar unit.
[007] In an embodiment, the one or more alert devices include at least one of an instrument cluster, a horn, a headlamp, a taillamp, a pair of left and right turn signal lamps, and a hazard lamp.
[008] In an embodiment, the first control unit monitors inputs received from the first sensor and the second sensor and is adapted to determine a fault in the first sensor and the second sensor.
[009] In an embodiment, the one or more parameters of the potential obstruction in the path of the vehicle include a distance of the potential obstruction from the vehicle, a speed of the potential obstruction, a direction of motion of the potential obstruction, and a nature of the potential obstruction.
[010] In an embodiment, the one or more parameters of the trailing vehicle include a distance of the trailing vehicle from the vehicle and a speed of the trailing vehicle.
[011] In an embodiment, the first set of predetermined conditions to be satisfied to activate the vehicular collision warning system include the distance of the potential obstruction from the vehicle being lesser than a first predefined distance, and the speed of the vehicle being greater than a first predefined speed.
[012] In an embodiment, the first set of signals generated by the first control unit is adapted to operate the instrument cluster to display a warning message on the instrument cluster to warn the operator of the vehicle of the probability of collision, operate the horn, the headlamp and the pair of left and right turn signal lamps to warn the potential obstruction in the path of the vehicle of the probability of collision, and operate the taillamp to warn the trailing vehicle of the probability of collision, if the TTC factor is between a first predefined TTC value and a second predefined TTC value, and the speed of the vehicle is greater than a third predefined speed.
[013] In another embodiment, the first set of signals generated by the first control unit is adapted to operate the instrument cluster to display a warning message on the instrument cluster to warn the operator of the vehicle of the probability of collision, operate the headlamp and the pair of left and right turn signal lamps to warn the potential obstruction in the path of the vehicle of the probability of collision, and operate the taillamp to warn the trailing vehicle of the probability of collision, if the TTC factor is between the second predefined TTC value and a third predefined TTC value, and the speed of the vehicle is between a second predefined speed and the third predefined speed.
[014] In yet another embodiment, the first set of signals generated by the first control unit is adapted to operate the instrument cluster to display a warning message on the instrument cluster to warn the operator of the vehicle of the probability of collision, operate the headlamp and the pair of left and right turn signal lamps to warn the potential obstruction in the path of the vehicle of the probability of collision, operate the taillamp and the hazard lamp to warn the trailing vehicle of the probability of collision, if the TTC factor is between the third predefined TTC value and a fourth predefined TTC value, and the speed of the vehicle is between the second predefined speed and the first predefined speed.
[015] In a further embodiment, the first control unit is adapted to determine whether the path of the vehicle corresponds to a silent zone, and prevent operation of the horn, if the path of the vehicle corresponds to the silent zone.
[016] In an embodiment, the vehicle includes an antilock braking system (ABS). If the vehicular collision warning system is activated, the first control unit is adapted to generate a second set of signals to operate the ABS to apply brakes of the vehicle within a first predetermined range of braking pressure if a coefficient of friction between wheels of the vehicle and the path of the vehicle is less than a predetermined coefficient of friction, and operate the ABS to apply brakes of the vehicle within a second predetermined range of braking pressure if the coefficient of friction between wheels of the vehicle and the path of the vehicle is greater than the predetermined coefficient of friction.
[017] In another embodiment, the vehicle includes an engine management system (EMS). If the vehicular collision warning system is activated, the first control unit is adapted to generate a third set of signals to operate the EMS to apply an assist torque to one or more wheels of the vehicle, if actual torque at the one or more wheels of the vehicle is less than a predetermined torque.
[018] In yet another embodiment, the vehicle includes an active suspension unit. If the vehicular collision warning system is activated, the first control unit is adapted to generate a fourth set of signals to operate the active suspension unit to decrease the preload to below a predetermined preload, if the preload is greater than the predetermined preload.
[019] In another aspect, the present invention is directed to a method for warning of the probability of collision of the vehicle. The method includes the steps of receiving by the first control unit of the vehicular collision warning system, one or more parameters of the potential obstruction in the path of the vehicle from the first sensor, receiving by the first control unit, one or more parameters of a trailing vehicle from the second sensor, and receiving by the first control unit, a speed of the vehicle from the VCU of the vehicle. The method also includes the steps of activating by the first control unit, the vehicular collision warning system if the one or more parameters of the potential obstruction in the path of the vehicle and the speed of the vehicle satisfy a first set of predetermined conditions, determining by the first control unit, the TTC factor based on the one or more parameters of the potential obstruction in the path of the vehicle and the speed of the vehicle if the vehicular collision warning system is activated, and generating by the first control unit, a first set of signals to operate at least one of the one or more alert devices to warn the operator of the vehicle, the potential obstruction in the path of the vehicle and the trailing vehicle of the probability of collision, based on the TTC factor and the speed of the vehicle, if the vehicular collision warning system is activated.
[020] In an embodiment, the method further includes the steps of monitoring by the first control unit, inputs received from the first sensor and the second sensor and determining by the first control unit, a fault in the first sensor and the second sensor.
[021] In an embodiment, the method further includes the step of activating by the first control unit, the vehicular collision warning system if a distance of the potential obstruction from the vehicle being lesser than a first predefined distance, and the speed of the vehicle being greater than a first predefined speed.
[022] In an embodiment, the method includes the steps of generating by the first control unit, the first set of signals to operate an instrument cluster of the vehicle to display a warning message on the instrument cluster to warn the operator of the vehicle of the probability of collision, operate a horn, a headlamp and a pair of left and right turn signal lamps of the vehicle to warn the potential obstruction in the path of the vehicle of the probability of collision, and operate a taillamp of the vehicle to warn the trailing vehicle of the probability of collision, if the TTC factor is between a first predefined TTC value and a second predefined TTC value, and the speed of the vehicle is greater than a third predefined speed.
[023] In another embodiment, the method includes the steps of generating by the first control unit, the first set of signals to operate the instrument cluster to display the warning message on the instrument cluster to warn the operator of the vehicle of the probability of collision, operate the headlamp and the pair of left and right turn signal lamps to warn the potential obstruction in the path of the vehicle of the probability of collision, and operate the taillamp (58) to warn the trailing vehicle of the probability of collision, if the TTC factor is between the second predefined TTC value and a third predefined TTC value, and the speed of the vehicle is between a second predefined speed and the third predefined speed.
[024] In yet another embodiment, the method includes the steps of generating by the first control unit, the first set of signals to operate the instrument cluster to display a warning message on the instrument cluster to warn the operator of the vehicle of the probability of collision, operate the headlamp and the pair of left and right turn signal lamps to warn the potential obstruction in the path of the vehicle of the probability of collision, and operate the taillamp and a hazard lamp of the vehicle to warn the trailing vehicle of the probability of collision, if the TTC factor is between the third predefined TTC value and a fourth predefined TTC value, and the speed of the vehicle is between the second predefined speed and the first predefined speed.
[025] In an embodiment, the method further includes the steps of determining by the first control unit, whether the path of the vehicle corresponds to a silent zone, and preventing operation of the horn, by the first control unit, if the path of the vehicle corresponds to the silent zone.
[026] In an embodiment, the method includes the steps of generating by the first control unit, a second set of signals to operate the ABS of the vehicle to apply brakes of the vehicle within a first predetermined range of braking pressure if a coefficient of friction between wheels of the vehicle and the path of the vehicle is less than a predetermined coefficient of friction, and if the vehicular collision warning system is activated, and generating by the first control unit, the second set of signals to operate the ABS to apply brakes of the vehicle within a second predetermined range of braking pressure if the coefficient of friction between wheels of the vehicle and the path of the vehicle is greater than the predetermined coefficient of friction, and if the vehicular collision warning system is activated.
[027] In another embodiment, the method includes the step of generating by the first control unit, a third set of signals to operate the EMS of the vehicle to apply an assist torque to one or more wheels of the vehicle, if actual torque at the one or more wheels of the vehicle is less than a predetermined torque, and if the vehicular collision warning system is activated.
[028] In yet another embodiment, the method includes the step of generating by the first control unit, a fourth set of signals to operate an active suspension unit of the vehicle to decrease a preload of the active suspension unit to below a predetermined preload, if the preload is greater than the predetermined preload, and if the vehicular collision warning system is activated.

BRIEF DESCRIPTION OF THE DRAWINGS
[029] Reference will be made to embodiments of the invention, examples of which may be illustrated in accompanying figures. These figures are intended to be illustrative, not limiting. Although the invention is generally described in context of these embodiments, it should be understood that it is not intended to limit the scope of the invention to these particular embodiments.
Figure 1 illustrates a block diagram of an exemplary vehicular collision warning system, one or more alert devices, a vehicle control unit (VCU), an antilock braking system (ABS), an engine management system (EMS) and an active suspension unit of the vehicle, in accordance with an embodiment of the present invention.
Figure 2 illustrates a method for warning of a probability of collision of the vehicle, in accordance with an embodiment of the present invention.
Figure 3 illustrates a method for fault determination in a first sensor and a second sensor of the vehicular collision warning system and a method for activating the vehicular collision warning system, in accordance with an embodiment of the present invention.
Figure 4 illustrates the method for warning of the probability of collision of the vehicle, in accordance with an embodiment of the present invention.
Figure 5 illustrates the method for warning of the probability of collision of the vehicle, in accordance with an embodiment of the present invention.
Figure 6 illustrates a method to operate the ABS to apply brakes of the vehicle, in accordance with an embodiment of the present invention.
Figure 7 illustrates a method to operate the EMS to apply an assist torque and operate the active suspension unit to regulate a preload of the active suspension unit, in accordance with an embodiment of the present invention.
DETAILED DESCRIPTION OF THE INVENTION
[030] Various features and embodiments of the present invention here will be discernible from the following further description thereof, set out hereunder. It is contemplated that the disclosure in the present invention may be applied to any type of vehicular collision warning system capable of accommodating the present subject matter without defeating the scope of the present invention.
[031] The present invention generally relates to a vehicular collision warning system 100 for operating alert devices 50 of a vehicle to warn an operator of the vehicle, a potential obstruction in a path of the vehicle and a trailing vehicle of a probability of collision, and a method 200 thereof.
[032] Figure 1 illustrates a block diagram of an exemplary vehicular collision warning system 100, one or more alert devices 50, a vehicle control unit (VCU) 20, an antilock braking system (ABS) 70, an engine management system (EMS) 80 and an active suspension unit 90 of the vehicle, in accordance with an embodiment of the present subject matter. The vehicular collision warning system 100 includes a first sensor 110 provided at a front of the vehicle, a second sensor 120 provided at a rear of the vehicle and a first control unit 130. The first sensor 110 is adapted to detect one or more parameters of a potential obstruction in a path of the vehicle and the second sensor 120 is adapted to detect one or more parameters of a trailing vehicle. The first sensor 110 is mounted to face forwardly towards the path to be traversed by the vehicle, and the second sensor 120 is mounted to face rearwardly towards the path already traversed by the vehicle.
[033] In an embodiment, the first sensor 110 for detecting one or more parameters of the potential obstruction in the path of the vehicle and the second sensor 120 for detecting one or more parameters of the trailing vehicle include at least one of a camera unit, a radar unit and a lidar unit. The camera unit, the radar unit and the lidar unit can be employed independently or in combination for detection of the respective parameters. In an embodiment, the one or more parameters of the potential obstruction in the path of the vehicle include a distance of the potential obstruction from the vehicle, a speed of the potential obstruction, a direction of motion of the potential obstruction, and a nature of the potential obstruction. The nature of the potential obstruction is used to aid in the determination of the alert devices 50 to be used for warning the potential obstruction. The nature of the potential obstruction includes factors like a size of the potential obstruction, an orientation of the potential obstruction, whether the potential obstruction is animate or inanimate, whether the potential obstruction is another vehicle, an animal, a pedestrian, or a speed breaker and so on. In an embodiment, the one or more parameters of the trailing vehicle includes a distance of the trailing vehicle from the vehicle and a speed of the trailing vehicle. In an alternate embodiment, the first control unit 130 is adapted to monitor inputs received from the first sensor 110 and the second sensor 120 in order to determine a fault in the first sensor 110 and the second sensor 120 depending on variations in the one or more parameters received in real time from the first sensor 110 and the second sensor 120.
[034] The vehicle further includes a vehicle control unit (VCU) 20 and one or more alert devices 50. In an embodiment, the VCU 20 is adapted to regulate operational parameters of the vehicle for ensuring safety of the operator of the vehicle and passer-by. The one or more alert devices 50 receive instructions from at least the first control unit 130. In an embodiment, the one or more alert devices 50 receive instructions from the VCU 20 in addition to the first control unit 130. The alert devices 50 are adapted to alert an operator of the vehicle, a trailing vehicle and the potential obstruction in the path of the vehicle of a probability of collision. In an embodiment, the one or more alert devices 50 include at least one of an instrument cluster 52, a horn 54, a headlamp 56, a taillamp 58, a pair of left and right turn signal lamps 60, and a hazard lamp 62. In an embodiment, the instrument cluster 52 is employed to display a warning message on the instrument cluster 52 to warn the operator of the vehicle of the probability of collision. In another embodiment, one or more of the horn 54, the headlamp 56 and the pair of left and right turn signal lamps 60 are employed to warn the potential obstruction in the path of the vehicle of the probability of collision. In yet another embodiment, one or more of the taillamp 58 and the hazard lamp 62 are employed to warn the trailing vehicle of the probability of collision.
[035] Figure 2 illustrates a method 200 for warning of a probability of collision of the vehicle, in accordance with an embodiment of the present subject matter. At step 204, the first control unit 130 receives the one or more parameters of the potential obstruction in the path of the vehicle from the first sensor 110 in real time. At step 206, the first control unit 130 receives the one or more parameters of the trailing vehicle from the second sensor 120 in real time. At step 208, the first control unit 130 receives the speed of the vehicle from the VCU 20 in real time. At step 210, the first control unit 130 compares the one or more parameters of the potential obstruction in the path of the vehicle and the speed of the vehicle with a first set of predetermined conditions, and determines whether the one or more parameters of the potential obstruction in the path of the vehicle and the speed of the vehicle satisfy the first set of predetermined conditions. If the one or more parameters of the potential obstruction in the path of the vehicle and the speed of the vehicle satisfy the first set of predetermined conditions, at step 212, the first control unit 130 activates the vehicular collision warning system 100. In an embodiment, the first set of predetermined conditions are a distance of the potential obstruction from the vehicle being lesser than a first predefined distance, and the speed of the vehicle being greater than a first predefined speed. In an exemplary embodiment, the first predefined distance is 700 metres, and the first predefined speed is 50 kilometres per hour. Once the vehicular collision warning system 100 is activated, the first control unit 130 continues to receive the one or more parameters of the potential obstruction in the path of the vehicle from the first sensor 110 and the one or more parameters of the trailing vehicle from the second sensor 120 in real time. At step 214, the first control unit 130 determines a time to collision (TTC) factor based on the one or more parameters of the potential obstruction in the path of the vehicle and the speed of the vehicle, if the vehicular collision warning system 100 is activated. In an embodiment, the first control unit 130 includes a Forward Collision Warning (FCW) algorithm. The FCW algorithm is vivified in a software, and the hardware of the first control unit 130 hosts the FCW algorithm and its software. The FCW algorithm hosted in the first control unit 130 determines the TTC factor. At step 216, the first control unit 130 generates a first set of signals to operate at least one of one or more alert devices 50 to warn an operator of the vehicle, the potential obstruction in the path of the vehicle and the trailing vehicle of the probability of collision, based on the TTC factor and the speed of the vehicle.
[036] Figure 3 illustrates a method 200 for fault determination in the first sensor 110 and the second sensor 120 of the vehicular collision warning system 100 and a method 200 for activating the vehicular collision warning system 100, in accordance with an embodiment of the present subject matter. At step 204, the first control unit 130 receives the one or more parameters of the potential obstruction in the path of the vehicle from the first sensor 110 in real time. At step 206, the first control unit 130 receives the one or more parameters of the trailing vehicle from the second sensor 120 in real time. At step 208, the first control unit 130 receives the speed of the vehicle from the VCU 20 in real time. In an embodiment, at step 218, the first control unit 130 monitors inputs received from the first sensor 110 and the second sensor 120. At step 220, the first control unit 130 determines a fault in the first sensor 110 and the second sensor 120 depending on variations in the one or more parameters received in real time from the first sensor 110 and the second sensor 120. For e.g., if the values of the one or more parameters received in real time in succession from the first sensor 110 and the second sensor 120 are inconsistent with predetermined values, an error signal is generated. When no fault is determined in the first sensor 110 and the second sensor 120, at step 224, the first set of predetermined conditions are evaluated, i.e., the first control unit 130 checks whether the distance of the potential obstruction from the vehicle is lesser than the first predefined distance, and whether the speed of the vehicle is greater than the first predefined speed. If the distance of the potential obstruction from the vehicle is lesser than the first predefined distance and the speed of the vehicle is greater than the first predefined speed, at step 212, the first control unit 130 activates the vehicular collision warning system 100. In case the first set of predetermined conditions are not satisfied, the first control unit 130 continues to receive the one or more parameters of the potential obstruction in the path of the vehicle from the first sensor 110 and the one or more parameters of the trailing vehicle from the second sensor 120 in real time.
[037] Figure 4 illustrates the method 200 for warning of the probability of collision of the vehicle, in accordance with an embodiment of the present subject matter. At step 226, the first control unit 130 checks whether the vehicular collision warning system 100 is activated. In an embodiment, if the vehicular collision warning system 100 is activated, at step 228, the first control unit 130 checks whether the TTC factor is between a first predefined TTC value and a second predefined TTC value, and the speed of the vehicle is greater than a third predefined speed. In an embodiment, the first predefined TTC value is 15 seconds to forward collision and the second predefined TTC value is 10 seconds to forward collision. In another embodiment, the third predefined speed is 150 kilometres per hour. If the TTC factor is between a first predefined TTC value and a second predefined TTC value and the speed of the vehicle is greater than a third predefined speed, at step 230, the first control unit 130 generates the first set of signals to operate the instrument cluster 52 to display the warning message on the instrument cluster 52 to warn the operator of the vehicle of the probability of collision, operate the horn 54, the headlamp 56 and the pair of left and right turn signal lamps 60 to warn the potential obstruction in the path of the vehicle of the probability of collision, and operate the taillamp 58 of the vehicle to warn the trailing vehicle of the probability of collision. Thus, the said alert devices 50 are operated at step 230 if the TTC factor is between 15 seconds to collision and 10 seconds to collision, and the speed of the vehicle is greater than 150 kilometres per hour.
[038] In another embodiment, if the vehicular collision warning system 100 is activated, at step 232, the first control unit 130 checks whether the TTC factor is between the second predefined TTC value and a third predefined TTC value, and whether the speed of the vehicle is between a second predefined speed and the third predefined speed. In an exemplary embodiment, the third predefined TTC value is 5 seconds and the second predefined speed is 100 kilometres per hour. If the TTC factor is between the second predefined TTC value and the third predefined TTC value and the speed of the vehicle is between the second predefined speed and the third predefined speed, at step 234, the first control unit 130 generates the first set of signals to operate the instrument cluster 52 to display the warning message on the instrument cluster 52 to warn the operator of the vehicle of the probability of collision, operate the headlamp 56 and the pair of left and right turn signal lamps 60 to warn the potential obstruction in the path of the vehicle of the probability of collision, and operate the taillamp 58 to warn the trailing vehicle of the probability of collision. Thus, the said alert devices 50 are operated at step 234 if the TTC factor is between 10 seconds to collision and 5 seconds to collision, and the speed of the vehicle is between 100 kilometres per hour and 150 kilometres per hour.
[039] In yet another embodiment, if the vehicular collision warning system 100 is activated, at step 236, the first control unit 130 checks whether the TTC factor is between the third predefined TTC value and a fourth predefined TTC value, and whether the speed of the vehicle is between the second predefined speed and the first predefined speed. In an exemplary embodiment, the fourth predefined TTC value is 1 second to forward collision. If the TTC factor is between the third predefined TTC value and the fourth predefined TTC value and the speed of the vehicle is between the second predefined speed and the first predefined speed, at step 238, the first control unit 130 generates the first set of signals to operate the instrument cluster 52 to display the warning message on the instrument cluster 52 to warn the operator of the vehicle of the probability of collision, operate the headlamp 56 and the pair of left and right turn signal lamps 60 to warn the potential obstruction in the path of the vehicle of the probability of collision, and operate the taillamp 58 and the hazard lamp 62 to warn the trailing vehicle of the probability of collision. Thus, the said alert devices 50 are operated at step 238 if the TTC factor is between 5 seconds to collision and 1 second to collision, and the speed of the vehicle is between 50 kilometres per hour and 100 kilometres per hour.
[040] Figure 5 illustrates the method 200 for warning of the probability of collision of the vehicle in a silent zone, in accordance with an embodiment of the present subject matter. At step 226, the first control unit 130 checks whether the vehicular collision warning system 100 is activated. In an embodiment, if the vehicular collision warning system 100 is activated, at step 240, the first control unit 130 determines whether the path of the vehicle corresponds to a silent zone. In an embodiment, the first control unit 130 includes a silent zone detection algorithm. The hardware of the first control unit 130 hosts the silent zone detection algorithm in the form of the software. In an embodiment, the silent zone detection algorithm formulates whether the path of the vehicle corresponds to a silent zone or not by retrieving data from a cloud-based or on-board map system. In another embodiment, the vehicular collision warning system 100 is adapted to be integrated with the map system and aids in analysing location of the vehicle and traffic information on a proposed path of the vehicle. In an embodiment, if the path of the vehicle corresponds to the silent zone, at step 242, the first control unit 130 prevents operation of the horn 54. In an alternate embodiment, if the path of the vehicle corresponds to the silent zone and the TTC factor is between a first predefined TTC value and a second predefined TTC value and the speed of the vehicle is greater than a third predefined speed, at step 244, the first control unit 130 generates the first set of signals to operate the instrument cluster 52 to display the warning message on the instrument cluster 52 to warn the operator of the vehicle of the probability of collision, operate the headlamp 56 and the pair of left and right turn signal lamps 60 to warn the potential obstruction in the path of the vehicle of the probability of collision, operate the taillamp 58 of the vehicle to warn the trailing vehicle of the probability of collision, and prevent operation of the horn 54 to warn of the probability of collision.
[041] Figure 6 illustrates a method 200 to operate the ABS 70 of the vehicle to apply brakes of the vehicle, in accordance with an embodiment of the present subject matter. In an embodiment, if the vehicular collision warning system 100 is activated, at step 248, the first control unit 130 checks whether a coefficient of friction between wheels of the vehicle and the path of the vehicle is less than a predetermined coefficient of friction. In an embodiment, the predetermined coefficient of friction is 0.3. If the coefficient of friction between wheels of the vehicle and the path of the vehicle is less than the predetermined coefficient of friction, at step 250, the first control unit 130 generates a second set of signals to operate the ABS 70 to apply brakes of the vehicle within a first predetermined range of braking pressure. In an exemplary embodiment, the ABS 70 applies brakes of the vehicle for pre assist braking and the first predetermined range of braking pressure is between 0 and 25 bar. In another embodiment, if the vehicular collision warning system 100 is activated, at step 252, the first control unit 130 checks whether the coefficient of friction between wheels of the vehicle and the path of the vehicle is greater than the predetermined coefficient of friction. If the coefficient of friction between wheels of the vehicle and the path of the vehicle is greater than the predetermined coefficient of friction, at step 254, the first control unit 130 generates the second set of signals to operate the ABS 70 to apply brakes of the vehicle within a second predetermined range of braking pressure. In an exemplary embodiment, the ABS 70 applies brakes of the vehicle for pre assist braking and the second predetermined range of braking pressure is between 0 and 50 bar. In yet another embodiment, the pre-assist braking is applied at a brake pressure determined on the basis of a surface of the path of the vehicle on all coefficient of friction levels and vehicle conditions.
[042] Figure 7 illustrates a method 200 to operate the EMS 80 to apply an assist torque and operate the active suspension unit 90 to regulate a preload of the active suspension unit 90, in accordance with an embodiment of the present subject matter. In an embodiment, if the vehicular collision warning system 100 is activated, at step 256, the first control unit 130 checks whether actual torque at one or more wheels of the vehicle is less than the predetermined torque. In an exemplary embodiment, the predetermined torque is 10 Newton metre. If actual torque at the one or more wheels of the vehicle is less than the predetermined torque, at step 258, the first control unit 130 generates a third set of signals to operate the EMS 80 of the vehicle to apply an assist torque to the one or more wheels of the vehicle. Providing assist torque to the one or more wheels of the vehicle when the actual torque at the one or more wheels is less is critical in improving stability and mauver ability of the vehicle. In another embodiment, if the vehicular collision warning system 100 is activated, at step 260, the first control unit 130 checks whether a preload of the active suspension unit 90 is greater than a predetermined preload. In an exemplary embodiment, the predetermined preload is 60 per cent of a maximum preload setting of the active suspension unit 90. If the preload of the active suspension unit 90 is greater than the predetermined preload, at step 262, the first control unit 130 generates a fourth set of signals to operate the active suspension unit 90 to decrease the preload of the active suspension unit 90 to below the predetermined preload. In yet another embodiment, the first control unit 130 continuously checks for the values of actual torque at one or more wheels of the vehicle and the preload of the active suspension unit if the vehicular collision warning system 100 is activated and make necessary adjustments to ensure stability and safety of the vehicle under braking.
[043] Advantageously, the present claimed invention provides a vehicular collision warning system for operating alert devices of a vehicle to warn an operator of the vehicle, a potential obstruction in a path of the vehicle and a trailing vehicle of a probability of collision, and a method thereof. By real-time detection of one or more parameters of the potential obstruction in a path of the vehicle and the trailing vehicle, along with timely warnings which includes a time to collision, accidents can be greatly reduced. Injury to human and animal life and damage to vehicle under collision with the potential obstruction in a path of the vehicle can be avoided by warning the potential obstruction in a path of the vehicle which are animate so that they may clear off the path in a timely manner. Further, alerting the trailing vehicle of an impending collision can allow an operator of the trailing vehicle to tale early action to control the trailing vehicle and would aid in avoiding multiple collisions from behind as a result of one forward collision. The claimed configurations of the vehicular collision warning system for operating alert devices of the vehicle to warn the operator of the vehicle, the potential obstruction in the path of the vehicle and the trailing vehicle of the probability of collision, and the method thereof as discussed above are not routine, conventional, or well understood in the art, as the claimed configurations of the system and the method disclosed herein enable the following solutions to the existing problems in conventional technologies. The system and method disclosed herein would allow the operator of the vehicle to identify severity of a forward collision situation with the potential obstruction in a path of the vehicle from warnings indicated on the basis of a time to collision factor. The proposed invention leads to efficient usage of the horn and hence would drastically reduce noise pollution and other disadvantages associated with injudicious sounding of the horn. It also prevents noise pollution in silent zones and thereby avoids nuisance. The disclosed system and method also increase safety of the operator and passer-by on the path of the vehicle, allows for the operator of the trailing vehicle to realise the probable collision situation that can occur and take necessary action, and pre-assist the operator of the vehicle by automatically performing necessary adjustments to the brake pressure, suspension preload and torque applied at wheels to avoid collision. Other advantaged include the system being efficient and cost-effective to install and use, able to increase range and fuel economy of the vehicle. Furthermore, modular installation of the system on existing vehicles is possible and the system can be powered by existing battery hardware of the vehicle.
[044] In light of the abovementioned advantages and the technical advancements provided by the disclosed method and system, the claimed steps as discussed above are not routine, conventional, or well understood in the art, as the claimed steps enable the following solutions to the existing problems in conventional technologies. Further, the claimed steps clearly bring an improvement in the functioning of the device itself as the claimed steps provide a technical solution to a technical problem.
[045] Furthermore, one or more computer-readable storage media may be utilized in implementing embodiments consistent with the present disclosure. A computer-readable storage medium refers to any type of physical memory on which information or data readable by a processor may be stored. Thus, a computer-readable storage medium may store instructions for execution by one or more processors, including instructions for causing the processor(s) to perform steps or stages consistent with the embodiments described herein. The term “computer-readable medium” should be understood to include tangible items and exclude carrier waves and transient signals, i.e., be non-transitory. Examples include random access memory (RAM), read-only memory (ROM), volatile memory, non-volatile memory, hard drives, CD ROMs, DVDs, flash drives, disks, and any other known physical storage media.
[046] While the present invention has been described with respect to certain embodiments, it will be apparent to those skilled in the art that various changes and modification may be made without departing from the scope of the invention as defined in the following claims.

List of Reference Numerals:
20 - vehicle control unit (VCU)
50 - one or more alert devices
52 - instrument cluster
54 - horn
56 - headlamp
58 - taillamp
60 - left and right turn signal lamps
62 - hazard lamp
70 - antilock braking system (ABS)
80 - engine management system (EMS)
90 - active suspension unit
100 - vehicular collision warning system
110 - first sensor
120 - second sensor
130 - first control unit
, Claims:WE CLAIM:
1. A vehicle comprising:
a vehicle control unit (VCU) (20);
a vehicular collision warning system (100), the vehicular collision warning system (100) comprising: a first sensor (110) provided at a front of the vehicle, the first sensor (110) configured to detect one or more parameters of a potential obstruction in a path of the vehicle; a second sensor (120) provided at a rear of the vehicle, the second sensor (120) configured to detect one or more parameters of a trailing vehicle; and a first control unit (130); and
one or more alert devices (50) configured to receive instructions from at least the first control unit (130), the alert devices (50) configured to alert an operator of the vehicle, a trailing vehicle and the potential obstruction in the path of the vehicle of a probability of collision;
the first control unit (130) configured to:
receive the one or more parameters of the potential obstruction in the path of the vehicle from the first sensor (110);
receive the one or more parameters of the trailing vehicle from the second sensor (120);
receive a speed of the vehicle from the VCU (20);
activate the vehicular collision warning system (100) if the one or more parameters of the potential obstruction in the path of the vehicle and the speed of the vehicle satisfy a first set of predetermined conditions;
determine a time to collision (TTC) factor based on the one or more parameters of the potential obstruction in the path of the vehicle and the speed of the vehicle, if the vehicular collision warning system (100) is activated.
generate a first set of signals to operate at least one of the one or more alert devices (50) to warn the operator of the vehicle, the potential obstruction in the path of the vehicle and the trailing vehicle of the probability of collision, based on the TTC factor and the speed of the vehicle, if the vehicular collision warning system (100) is activated.

2. The vehicle as claimed in claim 1, wherein the first sensor (110) and the second sensor (120) comprising at least one of a camera unit, a radar unit and a lidar unit.

3. The vehicle as claimed in claim 1, wherein the one or more alert devices (50) comprising at least one of an instrument cluster (52), a horn (54), a headlamp (56), a taillamp (58), a pair of left and right turn signal lamps (60), and a hazard lamp (62).

4. The vehicle as claimed in claim 1, wherein the first control unit (130) being configured to monitor inputs received from the first sensor (110) and the second sensor (120) and determine a fault in the first sensor (110) and the second sensor (120).

5. The vehicle as claimed in claim 1, wherein the one or more parameters of the potential obstruction in the path of the vehicle comprising a distance of the potential obstruction from the vehicle, a speed of the potential obstruction, a direction of motion of the potential obstruction, and a nature of the potential obstruction.

6. The vehicle as claimed in claim 1, wherein the one or more parameters of the trailing vehicle comprising a distance of the trailing vehicle from the vehicle and a speed of the trailing vehicle.

7. The vehicle as claimed in claim 5, wherein the first set of predetermined conditions to be satisfied to activate the vehicular collision warning system (100) comprising the distance of the potential obstruction from the vehicle being lesser than a first predefined distance, and the speed of the vehicle being greater than a first predefined speed.

8. The vehicle as claimed in claims 3 and 7, wherein if the TTC factor being between a first predefined TTC value and a second predefined TTC value, and the speed of the vehicle being greater than a third predefined speed, the first set of signals generated by the first control unit (130) being configured to:
operate the instrument cluster (52) to display a warning message on the instrument cluster (52), to warn the operator of the vehicle of the probability of collision;
operate the horn (54), the headlamp (56), and the pair of left and right turn signal lamps (60) to warn the potential obstruction in the path of the vehicle of the probability of collision;
operate the taillamp (58) to warn the trailing vehicle of the probability of collision.

9. The vehicle as claimed in claim 8, wherein if the TTC factor being between the second predefined TTC value and a third predefined TTC value, and the speed of the vehicle being between a second predefined speed and the third predefined speed, the first set of signals generated by the first control unit (130) being configured to:
operate the instrument cluster (52) to display a warning message on the instrument cluster (52), to warn the operator of the vehicle of the probability of collision;
operate the headlamp (56), and the pair of left and right turn signal lamps (60) to warn the potential obstruction in the path of the vehicle of the probability of collision;
operate the taillamp (58) to warn the trailing vehicle of the probability of collision.

10. The vehicle as claimed in claim 9, wherein if the TTC factor being between the third predefined TTC value and a fourth predefined TTC value, and the speed of the vehicle being between the second predefined speed and the first predefined speed, the first set of signals generated by the first control unit (130) being configured to:
operate the instrument cluster (52) to display a warning message on the instrument cluster (52), to warn the operator of the vehicle of the probability of collision;
operate the headlamp (56), and the pair of left and right turn signal lamps (60) to warn the potential obstruction in the path of the vehicle of the probability of collision;
operate the taillamp (58) and the hazard lamp (62) to warn the trailing vehicle of the probability of collision.

11. The vehicle as claimed in claims 3 and 7, wherein the first control unit (130) being configured to:
determine whether the path of the vehicle corresponds to a silent zone; and
prevent operation of the horn (54), if the path of the vehicle corresponds to the silent zone.

12. The vehicle as claimed in claim 1 comprising an antilock braking system (ABS) (70), wherein if the vehicular collision warning system (100) is activated, the first control unit (130) being configured to generate a second set of signals to operate the ABS (70) to apply brakes of the vehicle within a first predetermined range of braking pressure if a coefficient of friction between wheels of the vehicle and the path of the vehicle being less than a predetermined coefficient of friction, and operate the ABS (70) to apply brakes of the vehicle within a second predetermined range of braking pressure if the coefficient of friction between wheels of the vehicle and the path of the vehicle being greater than the predetermined coefficient of friction.

13. The vehicle as claimed in claim 1 comprising an engine management system (EMS) (80), wherein if the vehicular collision warning system (100) is activated, the first control unit (130) being configured to generate a third set of signals to operate the EMS (80) to apply an assist torque to one or more wheels of the vehicle, if actual torque at the one or more wheels of the vehicle being less than a predetermined torque.

14. The vehicle as claimed in claim 1 comprising an active suspension unit (90), wherein if the vehicular collision warning system (100) is activated, the first control unit (130) being configured to generate a fourth set of signals to operate the active suspension unit (90) to decrease the preload to below a predetermined preload, if the preload being greater than the predetermined preload.

15. A method (200) for warning of a probability of collision of a vehicle, the method (200) comprising the steps of:
receiving (204), by a first control unit (130) of a vehicular collision warning system (100) of the vehicle, one or more parameters of a potential obstruction in a path of the vehicle from a first sensor (110) provided at a front of the vehicle;
receiving (206), by the first control unit (130), one or more parameters of a trailing vehicle from a second sensor (120) provided at a rear of the vehicle;
receiving (208), by the first control unit (130), a speed of the vehicle from a vehicle control unit (VCU) (20) of the vehicle;
activating (212), by the first control unit (130), the vehicular collision warning system (100) if the one or more parameters of the potential obstruction in the path of the vehicle and the speed of the vehicle satisfy a first set of predetermined conditions (210);
determining (214), by the first control unit (130), a time to collision (TTC) factor based on the one or more parameters of the potential obstruction in the path of the vehicle and the speed of the vehicle, if the vehicular collision warning system (100) is activated;
generating (216), by the first control unit (130), a first set of signals to operate at least one of one or more alert devices (50) to warn an operator of the vehicle, the potential obstruction in the path of the vehicle and the trailing vehicle of the probability of collision, based on the TTC factor and the speed of the vehicle, if the vehicular collision warning system (100) is activated.

16. The method (200) as claimed in claim 15 comprising the steps of monitoring (218), by the first control unit (130), inputs received from the first sensor (110) and the second sensor (120) and determining (220), by the first control unit (130), a fault in the first sensor (110) and the second sensor (120).

17. The method (200) as claimed in claim 15 comprising the step of activating (226), by the first control unit (130), the vehicular collision warning system (100) if a distance of the potential obstruction from the vehicle being lesser than a first predefined distance, and the speed of the vehicle being greater than a first predefined speed (224).

18. The method (200) as claimed in claim 17 comprising the steps of generating (230), by the first control unit (130), the first set of signals to operate an instrument cluster (52) of the vehicle to display a warning message on the instrument cluster (52) to warn the operator of the vehicle of the probability of collision, operate a horn (54), a headlamp (56) and a pair of left and right turn signal lamps (60) of the vehicle to warn the potential obstruction in the path of the vehicle of the probability of collision, and operate a taillamp (58) of the vehicle to warn the trailing vehicle of the probability of collision, if the TTC factor being between a first predefined TTC value and a second predefined TTC value, and the speed of the vehicle being greater than a third predefined speed (228).

19. The method (200) as claimed in claim 18 comprising the steps of generating (234), by the first control unit (130), the first set of signals to operate the instrument cluster (52) to display the warning message on the instrument cluster (52) to warn the operator of the vehicle of the probability of collision, operate the headlamp (56) and the pair of left and right turn signal lamps (60) to warn the potential obstruction in the path of the vehicle of the probability of collision, and operate the taillamp (58) to warn the trailing vehicle of the probability of collision, if the TTC factor being between the second predefined TTC value and a third predefined TTC value, and the speed of the vehicle being between a second predefined speed and the third predefined speed (232).

20. The method (200) as claimed in claim 19 comprising the steps of generating (238), by the first control unit (130), the first set of signals to operate the instrument cluster (52) to display the warning message on the instrument cluster (52) to warn the operator of the vehicle of the probability of collision, operate the headlamp (56) and the pair of left and right turn signal lamps (60) to warn the potential obstruction in the path of the vehicle of the probability of collision, and operate the taillamp (58) and a hazard lamp (62) of the vehicle to warn the trailing vehicle of the probability of collision, if the TTC factor being between the third predefined TTC value and a fourth predefined TTC value, and the speed of the vehicle being between the second predefined speed and the first predefined speed (236).

21. The method (200) as claimed in claim 15 comprising the steps of determining (240), by the first control unit (130), whether the path of the vehicle corresponds to a silent zone, and preventing operation (242) of the horn (54), by the first control unit (130), if the path of the vehicle corresponds to the silent zone.

22. The method (200) as claimed in claim 15 comprising the steps of generating (250), by the first control unit (130), a second set of signals to operate an antilock braking system (ABS) (70) of the vehicle to apply brakes of the vehicle within a first predetermined range of braking pressure if a coefficient of friction between wheels of the vehicle and the path of the vehicle being less than a predetermined coefficient of friction (248), and if the vehicular collision warning system (100) is activated, and generating (254), by the first control unit (130), the second set of signals to operate the ABS (70) to apply brakes of the vehicle within a second predetermined range of braking pressure if the coefficient of friction between wheels of the vehicle and the path of the vehicle being greater than the predetermined coefficient of friction (252), and if the vehicular collision warning system (100) is activated.

23. The method (200) as claimed in claim 15 comprising the step of generating (258), by the first control unit (130), a third set of signals to operate an engine management system (EMS) (80) of the vehicle to apply an assist torque to one or more wheels of the vehicle, if actual torque at the one or more wheels of the vehicle being less than a predetermined torque (256), and if the vehicular collision warning system (100) is activated.

24. The method (200) as claimed in claim 15 comprising the step of generating (262), by the first control unit (130), a fourth set of signals to operate an active suspension unit (90) of the vehicle to decrease a preload of the active suspension unit (90) to below a predetermined preload, if the preload being greater than the predetermined preload (260), and if the vehicular collision warning system (100) is activated.

Dated this 28th day of December 2022
TVS MOTOR COMPANY LIMITED
By their Agent & Attorney

(Nikhil Ranjan)
of Khaitan & Co
Reg No IN/PA-1471